CN214689835U - Leg mechanism and quadruped robot - Google Patents
Leg mechanism and quadruped robot Download PDFInfo
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- CN214689835U CN214689835U CN202023089254.5U CN202023089254U CN214689835U CN 214689835 U CN214689835 U CN 214689835U CN 202023089254 U CN202023089254 U CN 202023089254U CN 214689835 U CN214689835 U CN 214689835U
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- shank
- sleeve
- leg mechanism
- sole module
- threaded rod
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- 230000007246 mechanism Effects 0.000 title claims abstract description 78
- 210000000689 upper leg Anatomy 0.000 claims abstract description 22
- 230000035939 shock Effects 0.000 claims abstract description 13
- 210000002414 leg Anatomy 0.000 claims description 30
- 229920003225 polyurethane elastomer Polymers 0.000 claims description 6
- 238000010521 absorption reaction Methods 0.000 claims description 5
- 230000008602 contraction Effects 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims 1
- 238000012876 topography Methods 0.000 abstract description 6
- 230000004888 barrier function Effects 0.000 abstract description 4
- 210000001699 lower leg Anatomy 0.000 description 50
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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Abstract
The utility model provides a shank mechanism, wherein, including articulated thigh and shank each other, be equipped with actuating mechanism on the thigh, actuating mechanism through first pole with the shank is connected, the one end of shank is equipped with the sole module of rotating the connection, the shank includes flexible adjustment mechanism. The utility model also provides a four-footed robot. The utility model discloses improved the structure of shank mechanism, made it when facing different topography and barrier, adjustable its shank length need not the renewal part, and reached the shock attenuation requirement, easy to maintain.
Description
Technical Field
The utility model relates to a four-footed robot technical field, more specifically relates to a shank mechanism and four-footed robot.
Background
Existing wheeled and tracked vehicles can only reach approximately half of the land on the earth, and the land area that can be reached by a quadruped robot is much larger. The quadruped robot has better trafficability than wheels or tracks in rugged terrain, and can be used for replacing people to complete tasks such as observation and patrol, material transportation and the like in dangerous areas, severe environments and rugged terrain.
With the utility model discloses most similar realization scheme: chinese patent publication No. CN 111232088A, published as 2020, 6.5.A leg mechanism of a quadruped robot and the quadruped robot, the leg mechanism comprises a thigh and a shank hinged with each other, a motor housing and a planetary reduction mechanism are mounted at the upper end of the thigh, a motor stator and a motor rotor coaxially mounted with the motor stator are mounted at the inner side of the motor housing, the motor rotor is fixedly connected with a sun wheel shaft of the planetary reduction mechanism, a planetary wheel output frame of the planetary reduction mechanism is connected with the shank through a first rod, the joint rotation angle range of the patent can meet the requirement, but the shank structure is a single rigid part, the shank structure is fixed and can not extend, in order to span rugged terrains and higher obstacles, longer leg parts need to be replaced, or the quadruped robot with larger size is used for completion, which results in the increase of spare parts and models of the robot, and the foot bottom-touching shock absorption effect is poor, and the maintenance cost is high.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the shank structural fixation of current shank mechanism, can't extend, the topography trafficability characteristic is relatively lower, and the shock attenuation effect is poor moreover, and shortcoming that the maintenance cost is high provides a shank mechanism. The utility model discloses improved the structure of shank mechanism, made it when facing different topography and barrier, adjustable its shank length need not the renewal part, and reached the shock attenuation requirement, easy to maintain.
The utility model also provides a four-footed robot.
In order to solve the technical problem, the utility model discloses a technical scheme is: a leg mechanism comprises a thigh and a shank which are hinged to each other, wherein a driving mechanism is arranged on the thigh and is connected with the shank through a first rod, a sole module which is connected in a rotating mode is arranged at one end of the shank, and the shank comprises a telescopic adjusting mechanism.
In the technical scheme, the telescopic adjusting mechanism on the shank can adjust the length of the shank, so that the length of the whole leg mechanism is changed. In the face of different terrains and obstacles, the length of the leg mechanism can be adjusted through the telescopic adjusting structure to adapt to the environment and finish the walking task. Because the sole module is movably connected with the crus, the sole module can reduce the vibration transmission to the thighs and the crus in the touchdown process, has good shock absorption effect, avoids influencing a driving mechanism of the thighs, and reduces the maintenance cost.
Further, the thigh comprises a housing, the drive mechanism penetrates into the housing, and the first lever is located inside the housing.
Furthermore, actuating mechanism includes motor and motor output swing arm, and the motor passes through bolted connection with motor output swing arm, the one end of first pole with motor output swing arm is connected, the other end of first pole with the shank rotates and is connected. In this technical scheme, motor output swing arm is fixed on the motor, and the rotation of motor can drive motor output swing arm and follow and rotate together, and the first pole of fixing on motor output swing arm also can follow motor output swing arm and rotate together, drives the shank and accomplishes corresponding action.
Furthermore, the shank further comprises a connecting rod, the contraction adjusting mechanism and the sole module are sequentially connected, the connecting rod is rotatably connected with the shank through a rotating shaft, and the first rod is sleeved on the rotating shaft. In the technical scheme, the connecting rod and the telescopic adjusting mechanism form a complete shank structure, and the sole module is rotationally connected with the telescopic adjusting mechanism. The telescopic adjusting mechanism can shorten or lengthen the whole length of the shank, and can enable the leg mechanism to walk on different terrains or cross obstacles with different sizes.
Furthermore, flexible adjustment mechanism includes sleeve and lug, telescopic inside is equipped with the screw thread, the one end of connecting rod is equipped with first threaded rod, the one end of lug is equipped with the second threaded rod, first threaded rod and second threaded rod stretch into the sleeve and rather than inside screw-thread fit connection from telescopic both ends respectively, be equipped with the regulation on the telescopic both ends first threaded rod and second threaded rod stretch into the nut of sleeve length. Inside first threaded rod and the second threaded rod stretched into the sleeve, carried out fixed connection with the inside screw thread of sleeve, the nut at sleeve both ends can the clamping sleeve, carries on spacingly to the position of sleeve between first threaded rod and second threaded rod, avoids in the motion process, the length of shank is changed.
Furthermore, the sole module is connected with the other end of the lifting lug through a spring pin and a spring, the spring pin is sleeved with the spring pin, and the spring pin penetrates through the lifting lug and the sole module. In the technical scheme, the sole module is rotatably connected with the shank through the spring pin and the spring, and the shock generated in the process of contacting the ground of the sole module is buffered at the spring, so that the shock is prevented from being transmitted to the shank and the thigh to cause shock influence, and the transmission function of the leg mechanism can be damaged for a long time.
Furthermore, the lifting lug is provided with a limiting block for limiting the rotation of the sole module. The limiting block rotates and limits the sole module, so that the sole module is prevented from excessively rotating and is not contacted with the sole surface when contacting the ground, and the sole module cannot be stably supported on the ground.
Furthermore, the rotation range of the sole module and the lifting lug is 0-90 degrees.
Furthermore, polyurethane rubber for shock absorption is wrapped outside the sole module. The polyurethane rubber can reduce the shock of the sole module when contacting the ground to a certain extent. Comprises a leg part mechanism,
a quadruped robot comprises a leg mechanism, wherein the leg mechanism is the leg mechanism.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model has the advantages that the threaded rod is connected with the sleeve in the telescopic adjusting mechanism by the screw thread, so that the shank has the length adjusting function, the terrain passing capability of the quadruped robot is well improved, the structure is reliable, and the operation is simple; the utility model discloses in, the sole module utilizes the spring to realize shock-absorbing function, has strengthened the buffer capacity to the four-footed robot, provides better protection to the accurate components and parts on the four-footed robot.
Drawings
Fig. 1 is a schematic view of the overall structure of a leg mechanism of the present invention.
Fig. 2 is an exploded view of a leg mechanism according to the present invention.
Fig. 3 is a schematic view of an internal structure of a leg mechanism of the present invention.
The graphic symbols are illustrated as follows:
1-motor, 2-thigh, 3-motor output swing arm, 4-first rod, 5-thigh first shell, 6-thigh second shell, 7-rotating shaft, 8-connecting rod, 9-nut, 10-sleeve, 11-lifting lug, 12-spring, 13-spring pin and 14-sole module.
Detailed Description
The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; for a better understanding of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the terms according to specific situations.
Example 1
Fig. 1 to 3 show an embodiment of a leg mechanism according to the present invention. The utility model provides a shank mechanism, this shank mechanism include through 7 articulated thighs 2 and shanks of pivot, are equipped with actuating mechanism on the thigh 2, and actuating mechanism is connected with the shank through first pole 4, and actuating mechanism drives the shank through first pole 4 and moves, and the end of shank is equipped with swing joint's sole module 14, is equipped with flexible regulation structure on the shank, can stretch out and draw back the adjustment to the length of shank, adapts to the rugged topography of not equidimension and barrier.
In this embodiment, thigh 2 still includes the casing, the casing is formed by the concatenation of the first casing 5 of thigh and the 6 concatenations of thigh second casing, actuating mechanism penetrates inside the casing, first pole 4 is located the inside of casing, actuating mechanism includes motor 1 and motor output swing arm 3, motor 1 passes through the flange to be fixed at the first casing 5 of thigh, motor output swing arm 3 passes through the bolt fastening on motor 1, the one end and the 3 fixed connection of motor output swing arm of first pole 4, the other end and the shank of first pole 4 are articulated, motor output swing arm 3, first pole 4 and shank connect gradually and constitute first pole mechanism, transmit the power of motor 1 to the shank.
In this embodiment, the shank comprises a connecting rod 8 and a telescopic adjusting mechanism which are connected in sequence, and the connecting rod 8 and the telescopic adjusting mechanism form a complete shank structure; the sole module 14 is rotatably connected with the telescopic adjusting mechanism.
The telescopic adjusting mechanism comprises a sleeve 10 and a lifting lug 11, wherein threads are arranged in the sleeve 10, a first threaded rod is arranged at one end of the connecting rod 8, a second threaded rod is arranged at one end of the lifting lug 11, and the first threaded rod and the second threaded rod respectively extend into the sleeve 10 from two ends of the sleeve 10 and are in fit connection with the threads in the sleeve 10; nuts 9 for adjusting the length of the first threaded rod and the second threaded rod extending into the sleeve 10 are arranged at two ends of the sleeve 10. In this embodiment, the first threaded rod and the second threaded rod extend into the sleeve 10 and are fixedly connected with the threads inside the sleeve 10, the length of the final shank is determined by the length of the first threaded rod and the length of the second threaded rod extending into the sleeve 10, the nuts 9 at the two ends of the sleeve 10 can clamp the sleeve, the position of the sleeve 10 between the first threaded rod and the second threaded rod is limited, and the length of the shank is prevented from being changed in the movement process.
In this embodiment, the lifting lug 11 and the sole module 14 are rotatably connected with the spring 12 through the spring pin 13, the spring 12 is sleeved on the spring pin 13, grooves for the spring 12 to pass through are formed in the lifting lug 11 and the sole module 14, and the spring 12 can buffer the vibration generated in the sole module 14 in the process of ground contact motion, so as to avoid transmitting the vibration to the thigh and the shank.
EXAMPLE 2
The present embodiment is similar to embodiment 1, except that a limiting member is disposed on one side of the lifting lug 11 close to the sole module 14, one end of the limiting member is a right angle, the other end of the limiting member is an arc angle, a side of the sole module 14 connected to the lifting lug limiting member is a straight edge, the length of the straight edge is greater than that of the limiting member, the straight edge of the sole module can rotate around the arc angle of the limiting member in the process of the sole module 14 rotating around the spring pin 13, and the right angle of the limiting member abuts against the straight edge of the sole module 14 to limit the rotation of the sole module 14.
The limiting element enables the rotation range of the sole module 14 and the lifting lug 11 to be 0-90 degrees. The sole module 14 is wrapped with polyurethane rubber for shock absorption, and when the sole module 14 contacts the ground, the polyurethane rubber is wrapped outside the sole module to reduce the shock generated by the contact with the ground.
The working principle of the embodiment is as follows: the telescopic adjusting mechanism on the lower leg can adjust the length of the lower leg, so that the length of the whole leg mechanism is changed. In the face of different terrains and obstacles, the length of the leg mechanism can be adjusted through the telescopic adjusting structure to adapt to the environment and finish the walking task. Because the sole module 14 is movably connected with the shank and the sole module 14 is wrapped with polyurethane rubber, the sole module 14 can reduce the vibration transmission to the thigh 2 and the shank in the process of contacting to the ground, has good damping effect, avoids influencing a driving mechanism of the thigh and reduces the maintenance cost.
Example 3
An embodiment of a quadruped robot. The utility model provides a four-footed robot, including four embodiment 2's shank mechanism in the four-footed robot, shank mechanism can adjust the whole height of four-footed robot, can adapt to the topography of different rugged degree and the barrier of co-altitude, the topography trafficability characteristic of four-footed robot has been improved well, and need not be equipped with multiple robot spare part and model, sole module 14 adopts simple and convenient mechanism to utilize the spring to realize shock-absorbing function, the buffer capacity to four-footed robot has been strengthened, precision components and parts on the four-footed robot provide better protection.
It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a leg mechanism, includes articulated thigh and shank each other, be equipped with actuating mechanism on the thigh, actuating mechanism through first pole with shank is connected its characterized in that: one end of the shank is provided with a sole module which is connected in a rotating way, and the shank comprises a telescopic adjusting mechanism.
2. A leg mechanism as claimed in claim 1, wherein: the thigh comprises a housing, the drive mechanism penetrating into the housing interior, the first lever being located in the housing interior.
3. A leg mechanism as claimed in claim 2, wherein: the driving mechanism comprises a motor and a motor output swing arm, the motor is connected with the motor output swing arm through a bolt, one end of the first rod is connected with the motor output swing arm, and the other end of the first rod is rotatably connected with the shank.
4. A leg mechanism as claimed in claim 1, wherein: the shank further comprises a connecting rod, the contraction adjusting mechanism and the sole module are sequentially connected, the connecting rod is rotatably connected with the shank through a rotating shaft, and the first rod is sleeved on the rotating shaft.
5. A leg mechanism as claimed in claim 4, wherein: the telescopic adjusting mechanism comprises a sleeve and a lifting lug, threads are arranged inside the sleeve, a first threaded rod is arranged at one end of the connecting rod, a second threaded rod is arranged at one end of the lifting lug, the first threaded rod and the second threaded rod respectively extend into the sleeve from two ends of the sleeve and are connected with the threads inside the sleeve in a matched mode, and nuts for adjusting the length of the sleeve extending into the first threaded rod and the second threaded rod are arranged at two ends of the sleeve.
6. A leg mechanism as claimed in claim 5, wherein: the sole module is connected with the other end of the lifting lug through a spring pin and a spring, the spring pin is sleeved with the spring pin, and the spring pin penetrates through the lifting lug and the sole module.
7. A leg mechanism as claimed in claim 6, wherein: and the lifting lug is provided with a limiting block for limiting the rotation of the sole module.
8. A leg mechanism as claimed in claim 7, wherein: the rotation range of the sole module and the lifting lug is 0-90 degrees.
9. A leg mechanism as claimed in claim 6, wherein: and the sole module is wrapped with polyurethane rubber for shock absorption.
10. A quadruped robot, comprising a leg mechanism, characterized in that: the leg mechanism as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023089254.5U CN214689835U (en) | 2020-12-18 | 2020-12-18 | Leg mechanism and quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023089254.5U CN214689835U (en) | 2020-12-18 | 2020-12-18 | Leg mechanism and quadruped robot |
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| Publication Number | Publication Date |
|---|---|
| CN214689835U true CN214689835U (en) | 2021-11-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023089254.5U Expired - Fee Related CN214689835U (en) | 2020-12-18 | 2020-12-18 | Leg mechanism and quadruped robot |
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| Country | Link |
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| CN (1) | CN214689835U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112429114A (en) * | 2020-12-18 | 2021-03-02 | 广东工业大学 | Leg mechanism and quadruped robot |
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2020
- 2020-12-18 CN CN202023089254.5U patent/CN214689835U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112429114A (en) * | 2020-12-18 | 2021-03-02 | 广东工业大学 | Leg mechanism and quadruped robot |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211112 |
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| CF01 | Termination of patent right due to non-payment of annual fee |